#pragma once

#include "app.h"

#include "cmsis_os.h"
#include "bsp.h"

#include "dj6.hpp"
#include "module/chassis.hpp"

#include "task/task_led.h"
#include "task/task_chassis.h"

class Settings {
public:
    float vxy_max = 5.0f; // 【单位：m/s】
    float rpm_max = 120.0f; // 最大小陀螺转速【单位：rpm】

    // 底盘PID参数
    PID::param_t wheel_pid = {.kp = 3000.0f, .ki = 5.0f};
};

class Status {
public:
};

extern Settings settings;
extern Status status;
extern DJ6 dj6;
extern Chassis chassis;
